Analysis of Positioning Uncertainty in Cooperative Localization and Target Tracking (CLATT)
نویسندگان
چکیده
In this report, we study the positioning accuracy of Cooperative Localization and Target Tracking (CLATT) in a network of mobile robots, and derive analytical upper bounds for the positioning uncertainty. The obtained bounds provide a description for the asymptotic positioning performance of the robots and the targets as a function of the sensor characteristics, and the structure of the graph of relative position measurements. By employing an Extended Kalman Filter (EKF) formulation for data fusion, two expressions are derived for the asymptotic positioning performance. One expression provides the guaranteed worst-case positioning accuracy, whereas the other determines an upper bound on the expected position estimates’ covariance. We investigate the effects of jointly estimating the targets’ and the robots’ position, and demonstrate that it results in better accuracy for the robots’ position estimates.
منابع مشابه
Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements
Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are suff...
متن کاملConsistent unscented incremental smoothing for multi-robot cooperative target tracking
In this paper, we study the problem of multi-robot cooperative target tracking, where a team of mobile robots cooperatively localize themselves and track (multiple) targets using their onboard sensor measurements as well as target stochastic kinematic information, and which is hence termed cooperative localization and target tracking (CLATT). A novel efficient, consistent, unscented incremental...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملAnalytical Expressions for Positioning Uncertainty Propagation in Networks of Robots
In this paper we present an analysis of the positioning uncertainty increase rate for a group of mobile robots. The simplified version for a group of N robots moving along one dimension is considered. The one dimension restriction permits us to extract an exact expression for the accumulation of positioning uncertainty in a group of robots equipped with proprioceptive (odometric in this case) a...
متن کاملKalman Filtering for NLOS Mitigation and Target Tracking in Indoor Wireless Environment
Kalman filter and its nonlinear extension, extended Kalman filter provide a feasible solution to mitigating non-line of sight (NLOS) propagation effects, and therefore improving accuracy of mobile target tracking in indoor wireless environments. Most wireless communication systems for indoor positioning and tracking may suffer from different error sources, including process errors, measurement ...
متن کامل